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<div class="title">state_lattice_planner.h</div>  </div>
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<a href="state__lattice__planner_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifndef __STATE_LATTICE_PLANNER_H</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define __STATE_LATTICE_PLANNER_H</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;omp.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="motion__model__diff__drive_8h.html">trajectory_generator/motion_model_diff_drive.h</a>&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="trajectory__generator__diff__drive_8h.html">trajectory_generator/trajectory_generator_diff_drive.h</a>&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;state_lattice_planner/lookup_table_utils.h&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;state_lattice_planner/obstacle_map.h&quot;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="class_state_lattice_planner.html">   22</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_state_lattice_planner.html">StateLatticePlanner</a></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;{</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="class_state_lattice_planner_1_1_sampling_params.html">   28</a></span>&#160;    <span class="keyword">class </span><a class="code" href="class_state_lattice_planner_1_1_sampling_params.html">SamplingParams</a></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    {</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        <a class="code" href="class_state_lattice_planner_1_1_sampling_params.html#a5680e895d5af68326f9ba261c83df8db">SamplingParams</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <a class="code" href="class_state_lattice_planner_1_1_sampling_params.html#a5680e895d5af68326f9ba261c83df8db">SamplingParams</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>, <span class="keyword">const</span> <span class="keywordtype">int</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <a class="code" href="class_state_lattice_planner_1_1_sampling_params.html#a5680e895d5af68326f9ba261c83df8db">SamplingParams</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>, <span class="keyword">const</span> <span class="keywordtype">int</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <span class="keywordtype">int</span> n_p;<span class="comment">// num of sampling positions</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keywordtype">int</span> n_h;<span class="comment">// num of sampling angle by position</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <span class="keywordtype">double</span> length;<span class="comment">// sample trajectory length</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="keywordtype">double</span> max_alpha;<span class="comment">// max trajectories angle</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keywordtype">double</span> min_alpha;<span class="comment">// min trajectories angle</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keywordtype">double</span> span_alpha;<span class="comment">// max - min alpha</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <span class="keywordtype">double</span> max_psi;<span class="comment">// max heading angle</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        <span class="keywordtype">double</span> min_psi;<span class="comment">// min trajectories angle</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keywordtype">double</span> span_psi;<span class="comment">// max - min psi</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    };</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="class_state_lattice_planner.html#a415bb9043b4a81c3e4e78bb07a2b820a">StateLatticePlanner</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_state_lattice_planner.html#a5acfc6c6ae5a9c6f96d11d993a9e8eeb">set_optimization_params</a>(<span class="keywordtype">int</span>, <span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_state_lattice_planner.html#a72f339fca78d67c79f206ba61204c60d">set_sampling_params</a>(<span class="keyword">const</span> <a class="code" href="class_state_lattice_planner_1_1_sampling_params.html">SamplingParams</a>&amp;);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_state_lattice_planner.html#ab1a3149975689f3aec54607953b2b627">set_target_velocity</a>(<span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_state_lattice_planner.html#a54f5f9f9e5e7c0f60a2106a08386b960">set_motion_params</a>(<span class="keywordtype">double</span>, <span class="keywordtype">double</span>, <span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_state_lattice_planner.html#a31764667bbdda9d41a4452b21d90bb18">set_vehicle_params</a>(<span class="keywordtype">double</span>, <span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_state_lattice_planner.html#a39c22c4b3509447d6a28bdbade734e73">load_lookup_table</a>(<span class="keyword">const</span> std::string&amp;);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_state_lattice_planner.html#ad2affac9efcefe926738ab1168476dab">generate_biased_polar_states</a>(<span class="keyword">const</span> <span class="keywordtype">int</span>, <span class="keyword">const</span> Eigen::Vector3d&amp;, <span class="keywordtype">double</span>, std::vector&lt;Eigen::Vector3d&gt;&amp;);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_state_lattice_planner.html#a08ce6c1087bb721aca6e04a1d100b88f">sample_states</a>(<span class="keyword">const</span> std::vector&lt;double&gt;&amp;, std::vector&lt;Eigen::Vector3d&gt;&amp;);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_state_lattice_planner.html#a95cb3890365a4a78418adc4a8da274fb">generate_trajectories</a>(<span class="keyword">const</span> std::vector&lt;Eigen::Vector3d&gt;&amp;, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, std::vector&lt;MotionModelDiffDrive::Trajectory&gt;&amp;);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_state_lattice_planner.html#a10fd4844675d818feff72f889fe547ef">pickup_trajectory</a>(<span class="keyword">const</span> std::vector&lt;MotionModelDiffDrive::Trajectory&gt;&amp;, <span class="keyword">const</span> Eigen::Vector3d&amp;, <a class="code" href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a>&amp;);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_state_lattice_planner.html#a39c22c4b3509447d6a28bdbade734e73">load_lookup_table</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_state_lattice_planner.html#afb619b3b7640607e308ef5b580a5c84a">get_optimized_param_from_lookup_table</a>(<span class="keyword">const</span> Eigen::Vector3d, <span class="keyword">const</span> <span class="keywordtype">double</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>, <a class="code" href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a>&amp;);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordtype">double</span> <a class="code" href="class_state_lattice_planner.html#ab2acba3b67661f3f3661039607b07b28">get_target_velocity</a>(<span class="keyword">const</span> Eigen::Vector3d&amp;);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_state_lattice_planner.html#a9429deda6c5363ef69794f87e351dfa4">generate_bresemhams_line</a>(<span class="keyword">const</span> std::vector&lt;Eigen::Vector3d&gt;&amp;, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp;, std::vector&lt;Eigen::Vector3d&gt;&amp;);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_state_lattice_planner.html#acdc10a5ab3171d411359e1995b335da1">check_collision</a>(<span class="keyword">const</span> <a class="code" href="classstate__lattice__planner_1_1_obstacle_map.html">state_lattice_planner::ObstacleMap&lt;int&gt;</a>&amp;, <span class="keyword">const</span> std::vector&lt;Eigen::Vector3d&gt;&amp;);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_state_lattice_planner.html#acdc10a5ab3171d411359e1995b335da1">check_collision</a>(<span class="keyword">const</span> <a class="code" href="classstate__lattice__planner_1_1_obstacle_map.html">state_lattice_planner::ObstacleMap&lt;int&gt;</a>&amp;, <span class="keyword">const</span> std::vector&lt;Eigen::Vector3d&gt;&amp;, <span class="keywordtype">double</span>);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordtype">double</span> HZ;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keywordtype">int</span> MAX_ITERATION;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordtype">double</span> OPTIMIZATION_TOLERANCE;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordtype">double</span> TARGET_VELOCITY;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordtype">double</span> MAX_ACCELERATION;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordtype">double</span> MAX_YAWRATE;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordtype">double</span> MAX_D_YAWRATE;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordtype">double</span> MAX_WHEEL_ANGULAR_VELOCITY;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordtype">double</span> WHEEL_RADIUS;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordtype">double</span> TREAD;</div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="class_state_lattice_planner.html#a28a8f78a0b869318f47a7acfbfcc531e">  189</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_state_lattice_planner.html#a28a8f78a0b869318f47a7acfbfcc531e">VERBOSE</a>;</div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="class_state_lattice_planner.html#a65159737bd94467ccaa9db536cb7833b">  193</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_state_lattice_planner.html#a65159737bd94467ccaa9db536cb7833b">ENABLE_CONTROL_SPACE_SAMPLING</a>;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <a class="code" href="class_state_lattice_planner_1_1_sampling_params.html">SamplingParams</a> sampling_params;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    LookupTableUtils::LookupTable lookup_table;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;};</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="preprocessor">#endif //__STATE_LATTICE_PLANNER_H</span></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<div class="ttc" id="aclass_state_lattice_planner_html_a72f339fca78d67c79f206ba61204c60d"><div class="ttname"><a href="class_state_lattice_planner.html#a72f339fca78d67c79f206ba61204c60d">StateLatticePlanner::set_sampling_params</a></div><div class="ttdeci">void set_sampling_params(const SamplingParams &amp;)</div><div class="ttdoc">Set parameters for trajectory terminal state sampling.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:86</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_a39c22c4b3509447d6a28bdbade734e73"><div class="ttname"><a href="class_state_lattice_planner.html#a39c22c4b3509447d6a28bdbade734e73">StateLatticePlanner::load_lookup_table</a></div><div class="ttdeci">void load_lookup_table(void)</div><div class="ttdoc">Not implemented.</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_a08ce6c1087bb721aca6e04a1d100b88f"><div class="ttname"><a href="class_state_lattice_planner.html#a08ce6c1087bb721aca6e04a1d100b88f">StateLatticePlanner::sample_states</a></div><div class="ttdeci">void sample_states(const std::vector&lt; double &gt; &amp;, std::vector&lt; Eigen::Vector3d &gt; &amp;)</div><div class="ttdoc">Sample states from specified angle.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:96</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_ad2affac9efcefe926738ab1168476dab"><div class="ttname"><a href="class_state_lattice_planner.html#ad2affac9efcefe926738ab1168476dab">StateLatticePlanner::generate_biased_polar_states</a></div><div class="ttdeci">void generate_biased_polar_states(const int, const Eigen::Vector3d &amp;, double, std::vector&lt; Eigen::Vector3d &gt; &amp;)</div><div class="ttdoc">Generate biased polar states.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:132</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_ab2acba3b67661f3f3661039607b07b28"><div class="ttname"><a href="class_state_lattice_planner.html#ab2acba3b67661f3f3661039607b07b28">StateLatticePlanner::get_target_velocity</a></div><div class="ttdeci">double get_target_velocity(const Eigen::Vector3d &amp;)</div><div class="ttdoc">Get target velocity from goal direction.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:365</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_a65159737bd94467ccaa9db536cb7833b"><div class="ttname"><a href="class_state_lattice_planner.html#a65159737bd94467ccaa9db536cb7833b">StateLatticePlanner::ENABLE_CONTROL_SPACE_SAMPLING</a></div><div class="ttdeci">bool ENABLE_CONTROL_SPACE_SAMPLING</div><div class="ttdoc">If true, trajectories sampled in control space are added to the output.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.h:193</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_acdc10a5ab3171d411359e1995b335da1"><div class="ttname"><a href="class_state_lattice_planner.html#acdc10a5ab3171d411359e1995b335da1">StateLatticePlanner::check_collision</a></div><div class="ttdeci">bool check_collision(const state_lattice_planner::ObstacleMap&lt; int &gt; &amp;, const std::vector&lt; Eigen::Vector3d &gt; &amp;)</div><div class="ttdoc">Check collision in the obstacle map.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:375</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_a9429deda6c5363ef69794f87e351dfa4"><div class="ttname"><a href="class_state_lattice_planner.html#a9429deda6c5363ef69794f87e351dfa4">StateLatticePlanner::generate_bresemhams_line</a></div><div class="ttdeci">void generate_bresemhams_line(const std::vector&lt; Eigen::Vector3d &gt; &amp;, const double &amp;, std::vector&lt; Eigen::Vector3d &gt; &amp;)</div><div class="ttdoc">Generate bresenhams line from given trajectory.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:316</div></div>
<div class="ttc" id="aclass_state_lattice_planner_1_1_sampling_params_html_a5680e895d5af68326f9ba261c83df8db"><div class="ttname"><a href="class_state_lattice_planner_1_1_sampling_params.html#a5680e895d5af68326f9ba261c83df8db">StateLatticePlanner::SamplingParams::SamplingParams</a></div><div class="ttdeci">SamplingParams(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:23</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_a415bb9043b4a81c3e4e78bb07a2b820a"><div class="ttname"><a href="class_state_lattice_planner.html#a415bb9043b4a81c3e4e78bb07a2b820a">StateLatticePlanner::StateLatticePlanner</a></div><div class="ttdeci">StateLatticePlanner(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:7</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html"><div class="ttname"><a href="class_state_lattice_planner.html">StateLatticePlanner</a></div><div class="ttdoc">Class for state lattice planning.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.h:22</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_a10fd4844675d818feff72f889fe547ef"><div class="ttname"><a href="class_state_lattice_planner.html#a10fd4844675d818feff72f889fe547ef">StateLatticePlanner::pickup_trajectory</a></div><div class="ttdeci">bool pickup_trajectory(const std::vector&lt; MotionModelDiffDrive::Trajectory &gt; &amp;, const Eigen::Vector3d &amp;, MotionModelDiffDrive::Trajectory &amp;)</div><div class="ttdoc">Pickup a trajectory to execute from candidates.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:280</div></div>
<div class="ttc" id="aclass_state_lattice_planner_1_1_sampling_params_html"><div class="ttname"><a href="class_state_lattice_planner_1_1_sampling_params.html">StateLatticePlanner::SamplingParams</a></div><div class="ttdoc">Class for parameters of trajectory sampling.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.h:28</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_a95cb3890365a4a78418adc4a8da274fb"><div class="ttname"><a href="class_state_lattice_planner.html#a95cb3890365a4a78418adc4a8da274fb">StateLatticePlanner::generate_trajectories</a></div><div class="ttdeci">bool generate_trajectories(const std::vector&lt; Eigen::Vector3d &gt; &amp;, const double, const double, const double, std::vector&lt; MotionModelDiffDrive::Trajectory &gt; &amp;)</div><div class="ttdoc">Generate trajectories to specified terminal states.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:206</div></div>
<div class="ttc" id="aclass_motion_model_diff_drive_1_1_trajectory_html"><div class="ttname"><a href="class_motion_model_diff_drive_1_1_trajectory.html">MotionModelDiffDrive::Trajectory</a></div><div class="ttdoc">Class representing a trajectory.</div><div class="ttdef"><b>Definition:</b> motion_model_diff_drive.h:139</div></div>
<div class="ttc" id="atrajectory__generator__diff__drive_8h_html"><div class="ttname"><a href="trajectory__generator__diff__drive_8h.html">trajectory_generator_diff_drive.h</a></div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_a5acfc6c6ae5a9c6f96d11d993a9e8eeb"><div class="ttname"><a href="class_state_lattice_planner.html#a5acfc6c6ae5a9c6f96d11d993a9e8eeb">StateLatticePlanner::set_optimization_params</a></div><div class="ttdeci">void set_optimization_params(int, double)</div><div class="ttdoc">Set parameters for trajectory optimization.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:62</div></div>
<div class="ttc" id="amotion__model__diff__drive_8h_html"><div class="ttname"><a href="motion__model__diff__drive_8h.html">motion_model_diff_drive.h</a></div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_ab1a3149975689f3aec54607953b2b627"><div class="ttname"><a href="class_state_lattice_planner.html#ab1a3149975689f3aec54607953b2b627">StateLatticePlanner::set_target_velocity</a></div><div class="ttdeci">void set_target_velocity(double)</div><div class="ttdoc">Set target velocity.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:68</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_a28a8f78a0b869318f47a7acfbfcc531e"><div class="ttname"><a href="class_state_lattice_planner.html#a28a8f78a0b869318f47a7acfbfcc531e">StateLatticePlanner::VERBOSE</a></div><div class="ttdeci">bool VERBOSE</div><div class="ttdoc">If true, verbosity output is enabled.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.h:189</div></div>
<div class="ttc" id="aclass_motion_model_diff_drive_1_1_control_params_html"><div class="ttname"><a href="class_motion_model_diff_drive_1_1_control_params.html">MotionModelDiffDrive::ControlParams</a></div><div class="ttdoc">Class containing VelocityParams and AngularVelocityParams.</div><div class="ttdef"><b>Definition:</b> motion_model_diff_drive.h:117</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_a31764667bbdda9d41a4452b21d90bb18"><div class="ttname"><a href="class_state_lattice_planner.html#a31764667bbdda9d41a4452b21d90bb18">StateLatticePlanner::set_vehicle_params</a></div><div class="ttdeci">void set_vehicle_params(double, double)</div><div class="ttdoc">Set vehicle parameters.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:80</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_a54f5f9f9e5e7c0f60a2106a08386b960"><div class="ttname"><a href="class_state_lattice_planner.html#a54f5f9f9e5e7c0f60a2106a08386b960">StateLatticePlanner::set_motion_params</a></div><div class="ttdeci">void set_motion_params(double, double, double)</div><div class="ttdoc">Set motion parameters.</div><div class="ttdef"><b>Definition:</b> state_lattice_planner.cpp:73</div></div>
<div class="ttc" id="aclassstate__lattice__planner_1_1_obstacle_map_html"><div class="ttname"><a href="classstate__lattice__planner_1_1_obstacle_map.html">state_lattice_planner::ObstacleMap</a></div><div class="ttdef"><b>Definition:</b> obstacle_map.h:20</div></div>
<div class="ttc" id="aclass_state_lattice_planner_html_afb619b3b7640607e308ef5b580a5c84a"><div class="ttname"><a href="class_state_lattice_planner.html#afb619b3b7640607e308ef5b580a5c84a">StateLatticePlanner::get_optimized_param_from_lookup_table</a></div><div class="ttdeci">void get_optimized_param_from_lookup_table(const Eigen::Vector3d, const double, const double, MotionModelDiffDrive::ControlParams &amp;)</div><div class="ttdoc">Not implemented.</div></div>
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